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Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism (2020)
Journal Article
Karim, S., Piano, S., Branson, D., Santoso, T., Leach, R., & Tolley, M. (2022). Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism. International Journal of Control, 95(4), 867-885. https://doi.org/10.1080/00207179.2020.1827297

This paper presents a real-time position control solution for the targets used in the high-repetition rate laser operations of large-scale high-power laser facilities. The design of the control system is based on an Abbe-compliant, in-process positio... Read More about Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism.

XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications (2020)
Journal Article
Ahmadieh Khanesar, M., Bansal, R., Martínez-Arellano, G., & Branson, D. (2020). XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications. Applied Sciences, 10(8), Article 6451. https://doi.org/10.3390/app10186451

Industry 4.0 is the fourth generation of industry which will theoretically revolutionize manufacturing methods through the integration of machine learning and artificial intelligence approaches on the factory floor to obtain robustness and sped-up pr... Read More about XOR Binary Gravitational Search Algorithm with Repository: Industry 4.0 Applications.

Support Vector Regression for Multi-objective Parameter Estimation of Interval Type-2 Fuzzy Systems (2020)
Book Chapter
Ahmadieh Khanesar, M., & Branson, D. (2020). Support Vector Regression for Multi-objective Parameter Estimation of Interval Type-2 Fuzzy Systems. In Soft Computing for Problem Solving 2019: Proceedings of SocProS 2019, Volume 1 (97-108). Springer Verlag. https://doi.org/10.1007/978-981-15-3290-0_8

© 2020, Springer Nature Singapore Pte Ltd. This paper presents a support vector regression-based multi-objective parameter estimation method for interval type-2 fuzzy systems, which deals with prediction interval rather than its crisp output value. S... Read More about Support Vector Regression for Multi-objective Parameter Estimation of Interval Type-2 Fuzzy Systems.

Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness (2020)
Journal Article
Yang, C., Geng, S., Walker, I., Branson, D. T., Liu, J., Dai, J. S., & Kang, R. (2020). Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness. International Journal of Robotics Research, 39(14), 1620-1634. https://doi.org/10.1177/0278364920913929

Continuum robots exhibit promising adaptability and dexterity for soft manipulation due to their intrinsic compliance. However, this compliance may lead to challenges in modeling as well as positioning and loading. In this paper, a virtual-work based... Read More about Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness.

Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism (2020)
Journal Article
Leach, R., Branson, D., Karim, S., Tolley, M., Piano, S., & Santoso, T. (2020). Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism. International Journal of Control, 95(4), 867-885. https://doi.org/10.1080/00207179.2020.1827297

This paper presents a real-time position control solution for the targets used in the high-repetition rate laser operations of high-power laser facilities. The control system is designed based on an Abbe-compliant, in-process position measurement sys... Read More about Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism.

Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features (2019)
Journal Article
Alatorre, D., Rabani, A., Axinte, D., & Branson, D. T. (2020). Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features. Mechanical Systems and Signal Processing, 136, Article 106517. https://doi.org/10.1016/j.ymssp.2019.106517

Detecting, measuring and controlling the forces between cutting tools and machined components is essential in circumstances where direct position control (e.g. depth of cut, feed speed, etc.) is inaccurate and/or impossible. This paper explores the u... Read More about Closed Loop Force Control of In-Situ Machining Robots using Audible Sound Features.

Task space-based orientability analysis and optimization of a wire-driven continuum robot (2019)
Journal Article
Wang, C., Geng, S., Branson, D. T., Yang, C., Dai, J. S., & Kang, R. (2019). Task space-based orientability analysis and optimization of a wire-driven continuum robot. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 233(23-24), 7658-7668. https://doi.org/10.1177/0954406219889083

Compared to traditional rigid robots, continuum robots have intrinsic compliance and therefore behave dexterously when performing tasks in restricted environments. Although there have been many researches on the design and application of continuum ro... Read More about Task space-based orientability analysis and optimization of a wire-driven continuum robot.

The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator (2019)
Journal Article
Abubakar, I., Giddings, D., Panorios, B., Branson, D., Lad, N., & Townsend, S. (2020). The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator. Powder Technology, 362, 197-207. https://doi.org/10.1016/j.powtec.2019.11.111

© 2019 Elsevier B.V. Distribution of pulverised fuels in pneumatic conveying to conventional boilers is an ongoing research area with the intention of improving the performance of power-generating plants. One of the major challenges is the issue of o... Read More about The influence of control vanes on pneumatic conveying of pulverised fuel at a trifurcator.

XOR Binary Gravitational Search Algorithm (2019)
Conference Proceeding
Khanesar, M. A., & Branson, D. (2019). XOR Binary Gravitational Search Algorithm. In 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) (3269-3274). https://doi.org/10.1109/smc.2019.8914607

In this paper, an XOR binary gravitational search algorithm is introduced. Gravitational search algorithms, a physics inspired optimization algorithm, have previously been successfully applied to different real-valued optimization problems. In their... Read More about XOR Binary Gravitational Search Algorithm.

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms (2019)
Journal Article
Habibi, H., Yang, C., Godage, I. S., Kang, R., Walker, I. D., & Branson, D. T. (2020). A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms. Journal of Mechanisms and Robotics, 12(1), 1-12. https://doi.org/10.1115/1.4045037

Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control th... Read More about A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms.

Image processing algorithm to determine an optimised 2D laser cutting trajectory (2019)
Conference Proceeding
Syam, W. P., Bansal, R., Benardos, P., Britchford, E., Hopkinson, A., Voisey, K., & Branson, D. T. (2019). Image processing algorithm to determine an optimised 2D laser cutting trajectory. In Proceedings of 25th IEEE International Conference on Automation & Computing (ICAC'19) (1-6)

Laser cutting processes offer high-quality and fast cutting capability across a wide variety of materials, including metals, plastics and organic tissues. To enable 2D laser cutting process, a set of (x, y) Cartesian coordinates that form a cutting t... Read More about Image processing algorithm to determine an optimised 2D laser cutting trajectory.

Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin (2019)
Conference Proceeding
Bansal, R., Ahmadieh Khanesar, M., & Branson, D. (2019). Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin. In Proceedings of the 25th International Conference on Automation & Computing, Lancaster University, Lancaster UK, 5-7 September 2019 (1-5). https://doi.org/10.23919/IConAC.2019.8895095

Advanced manufacturing that is adaptable to constantly changing product designs often requires dynamic changes on the factory floor to enable manufacture. The integration of robotic manufacture with machine learning approaches offers the possibility... Read More about Ant Colony Optimization Algorithm for Industrial Robot Programming in a Digital Twin.

Kinematics and statics of eccentric soft bending actuators with external payloads (2019)
Journal Article
Yang, C., Kang, R., Branson, D. T., Chen, L., & Dai, J. S. (2019). Kinematics and statics of eccentric soft bending actuators with external payloads. Mechanism and Machine Theory, 139, 526-541. https://doi.org/10.1016/j.mechmachtheory.2019.05.015

Soft bending actuators, born with the considerable capacity of structural flexibility and environmental adaptability, have been widely favored for years. However, the highly nonlinear coupling between force and deformation in such robots are very com... Read More about Kinematics and statics of eccentric soft bending actuators with external payloads.

Assessing worker performance using dynamic cost functions in human robot collaborative tasks (2019)
Journal Article
Smith, T., Benardos, P., & Branson, D. (2020). Assessing worker performance using dynamic cost functions in human robot collaborative tasks. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 234(1), 289-301. https://doi.org/10.1177/0954406219838568

The aim of this research is to develop a framework to allow efficient Human Robot, HR, collaboration on manufacturing assembly tasks based on cost functions that quantify capabilities and performance of each element in a system and enable their effic... Read More about Assessing worker performance using dynamic cost functions in human robot collaborative tasks.

Design and modeling of a soft robotic surface with hyperelastic material (2018)
Journal Article
Chen, L., Yang, C., Wang, H., Branson, D. T., Dai, J. S., & Kang, R. (2018). Design and modeling of a soft robotic surface with hyperelastic material. Mechanism and Machine Theory, 130, 109-122. https://doi.org/10.1016/j.mechmachtheory.2018.08.010

While most existing soft robots have tentacle-like morphology, this paper extends the morphology of a soft robot from a curve to a surface. The presented robotic surface is fabricated using hyperelastic silicone material, and its morphology and defor... Read More about Design and modeling of a soft robotic surface with hyperelastic material.

Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach (2018)
Conference Proceeding
Habibi, H., Yang, C., Kang, R., Walker, I. D., Godage, I. S., Dong, X., & Branson, D. T. (2018). Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach

Precise actuation of continuum surfaces in combination with continuum robotic arms that undergo large deformation is of high interest in soft robotics but of limited model-based study to date. This work develops this area towards enabling the robust... Read More about Modelling an acuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach.

Optimal integration of pneumatic artificial muscles with vacuum-jammed surfaces to characterise a novel reconfigurable moulding system (2018)
Journal Article
Habibi, H., Land, P., Ball, M. J., Troncoso, D. A., & Branson, D. T. (in press). Optimal integration of pneumatic artificial muscles with vacuum-jammed surfaces to characterise a novel reconfigurable moulding system. Journal of Manufacturing Processes, 32, https://doi.org/10.1016/j.jmapro.2018.02.013

Producing mould tooling systems is a considerable proportion of manufacturing cost and time, especially for low volume productions. Producing a reconfigurable mould to shape surfaces into complex geometries with multiple curvatures would obviate the... Read More about Optimal integration of pneumatic artificial muscles with vacuum-jammed surfaces to characterise a novel reconfigurable moulding system.

Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading (2018)
Journal Article
Isaia, C., McNally, D. S., McMaster, S. A., & Branson, D. T. (in press). Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading. Textile Research Journal, https://doi.org/10.1177/0040517517748496

This paper presents, for the first time, the electrical response of knitted conductive fabrics to a considerable number of cycles of deformation in view of their use as wearable sensors. The changes in the electrical properties of four knitted conduc... Read More about Effect of mechanical preconditioning on the electrical properties of knitted conductive textiles during cyclic loading.